?? main.c
字號(hào):
#ifdef MONITOR51 /* Debugging with Monitor-51 needs */
char code reserve [3] _at_ 0x23; /* space for serial interrupt if */
#endif /* Stop Exection with Serial Intr. */
/* is enabled */
/*------------------------------------------------
The main C function. Program execution starts
here after stack initialization.
------------------------------------------------*/
#include <stdio.h>
#include <reg51.h>
#include <math.h>
#define DEBUG
#define VALID 0
#define INVALID 1
#define TRUE 1
#define FALSE 0
#define ConstClockWise 1
#define ConstAntiClock 0
#define DELAY_VALVE 3
#define MAXSTEPS 400 //maxsteps = 360/0.9=400
#define HALFMAXSTEPS 200 //180 degree
#define ONEQUARTERSTEPS 100
#define THREEQUARTERSTEPS 300
#define OCTANT 50
#define MAXINPULSE 20
//#define PinZFeedBack P0_0 //input,photoelectricity signal feed back ,to know where is the 0 angle position
#define PinClockWiseRot P0_1 //input,ClockWise Rotate Signal
#define PinAntiClockRot P0_2 //input,Anti-clock-wise rotate signal
#define PinInFree P0_3 //input,Rotate to Zero Angle Signal
#define PinDrvOPTO P1_0 //output,opto.
#define PinDrvFree P1_1 //output,if ,then machine is free
#define PinDrvAntiClock P1_2 //output,if VALID,then Drive the machine rotate ANTI-clock wise
#define PinDriver P1_3 //output,give Pulse to control the machine's speed
#define PinXClockWise P2_0 //input,X-array machine rotate clockwisely
#define PinYClockWise P2_1 //input,Y-array machine rotate clockwisely
#define PinLamp1 P1_4
#define PinLamp2 P1_5
#define PinLamp3 P1_6
#define PinLamp4 P1_7
#define PinLamp5 P2_2
#define PinLamp6 P2_3
#define PinLampBlink PinLamp1
#define PinRotIndicator PinLamp2
#define LampFatalError PinLamp4
#define PinLampDebug PinLamp3
#define LampOVErr PinLamp5
#define LampComm PinLamp6
sbit P0_0=P0^0;
sbit P0_1=P0^1;
sbit P0_2=P0^2;
sbit P0_3=P0^3;
sbit P0_4=P0^4;
sbit P0_5=P0^5;
sbit P0_6=P0^6;
sbit P0_7=P0^7;
sbit P1_0=P1^0;
sbit P1_1=P1^1;
sbit P1_2=P1^2;
sbit P1_3=P1^3;
sbit P1_4=P1^4;
sbit P1_5=P1^5;
sbit P1_6=P1^6;
sbit P1_7=P1^7;
sbit P2_0=P2^0;
sbit P2_1=P2^1;
sbit P2_2=P2^2;
sbit P2_3=P2^3;
sbit P2_4=P2^4;
sbit P2_5=P2^5;
sbit P2_6=P2^6;
sbit P2_7=P2^7;
sbit P3_2=P3^2;
sbit P3_3=P3^3;
bit EvTimer=FALSE;
bit EvRcv=FALSE;
char rcvdata=0;
char workmode=2;
int delaycount=20;
long int XPulse=0,YPulse=0;
long int XPulseTemp=0,YPulseTemp=0;
//用最小步數(shù)表示角度
//int debugreg[4];
int debugYinput=0;
int debugXinput=0;
int counter10ms=0;
int debugtime=0;
void initial(void); //初始化子程序
void delay(int i);
int FuncRotate(bit BClockWise,int step,int *PRegAngle);
int FuncGoAngleZ(int *PRegAngle);
void send(char *temp,int j);
void main(void)
{
int RegAngle=0,RegNewAngle=0,temp=0;
long int Xtmp=0,Ytmp=0;
initial(); //初始化子程序
PinDriver=VALID;
PinLamp1=FALSE;
PinLamp2=FALSE;
PinLamp3=FALSE;
PinLamp4=FALSE;
PinLamp5=FALSE;
PinLamp6=FALSE;
PinDrvOPTO=FALSE;
PinDrvFree=FALSE;
delay(1);
while(1)
{
while(PinInFree==VALID)
{
TR0=0;
PinDrvFree=TRUE;
while(PinClockWiseRot==VALID)
{
PinDrvFree=FALSE;
FuncRotate(ConstClockWise,1,&RegAngle);
delay(500);
}
while(PinAntiClockRot==VALID)
{
PinDrvFree=FALSE;
FuncRotate(ConstAntiClock,1,&RegAngle);
delay(500);
}
TR0=1;
EvTimer=FALSE;
}
PinDrvFree=FALSE;
if(EvRcv)
{
delaycount=rcvdata&0x1F;
workmode=(rcvdata&0xE0)/32;
EvRcv=FALSE;
}
if (EvTimer)
{
++debugtime;
if(debugtime==5)
{
PinLampBlink=TRUE;
}
else if(debugtime==10)
{
PinLampBlink=FALSE;
debugtime=0;
}
RegNewAngle=XPulse*XPulse+YPulse*YPulse;
RegNewAngle=(int)sqrt((float)RegNewAngle);
temp=RegNewAngle-RegAngle;
if(temp>HALFMAXSTEPS)
{
temp=temp-MAXSTEPS;
}
else if(temp<-HALFMAXSTEPS)
{
temp=temp+MAXSTEPS;
}
if(temp>0)
{
FuncRotate(ConstClockWise,temp,&RegAngle);
}
if(temp<0)
{
FuncRotate(ConstAntiClock,-temp,&RegAngle);}
}
if(workmode==1)
{
send((char*)&RegAngle,2);
}
else if(workmode==2)
{
send((char*)&RegAngle,2);
send((char*)&XPulse,4);
send((char*)&YPulse,4);
}
EvTimer=FALSE;
}
}
void initial(void)
{
// IP=0x08; //定義T1中斷優(yōu)先
// IE=0x87; //允許中斷0、1、定時(shí)器0
// TCON=0x05; //外部中斷為負(fù)邊沿中斷
IP=0x10; //定義串口為高優(yōu)先級(jí)中斷
IE=0x97; //允許串口、中斷0、1、定時(shí)器0
TCON=0x05;
// TMOD=0x01; //定時(shí)器0以十六位定時(shí)/計(jì)數(shù)器方式工作
TMOD=0x21; //定時(shí)器1為自動(dòng)裝入(auto-load)方式
// TMOD=0x22; //定時(shí)器1為自動(dòng)裝入(auto-load)方式
// TH0=0xD8; //10ms產(chǎn)生中斷
// TL0=0xEF;
TH0=0xB1; //10ms產(chǎn)生中斷 24Mhz
TL0=0xE0;
// TH0=0x4E; //10ms產(chǎn)生中斷 24Mhz
// TL0=0x20;
// TH0=0xFF; //10ms產(chǎn)生中斷 24Mhz
// TL0=0x80;
// TH0=0xff; //10ms產(chǎn)生中斷 24Mhz
// TL0=0x3f;
// TH0=0x00;
// TL0=0x00; //
TR0=1;
PCON=0; //SMOD(PCON.7)=1時(shí)，baudrate doubled.//smod=1 (11M晶振時(shí)為0)
SCON=0xD0; //串行口工作方式 : 9位UART, 波特率可變
TH1=0xf3;
TL1=0xf3; //
PCON=0x80|PCON; // SMOD=1; //波特率設(shè)置 : 9600 baud(E8--24MHZ)
//SMOD=0=4.8kbps
//th1=tl1=fd,smod=0 ,=19.2kbps
TR1=1; //啟動(dòng)定時(shí)器1
XPulse=0;
YPulse=0;
XPulseTemp=0;
YPulseTemp=0;
}
void send(char *temp,int j)
{
int i=0;
LampComm=TRUE;
EA=0;
for(i=0;i<=j-1;i++)
{
ACC=*(temp+i);
TB8=P;
SBUF=ACC;
while(TI==0);
TI=0;
}
EA=1;
LampComm=FALSE;
}
int FuncRotate(bit BClockWise,int step,int *PRegAngle)
{
PinRotIndicator=TRUE;
if (BClockWise)
{
PinDrvAntiClock=INVALID;
*PRegAngle+=step;
if (*PRegAngle>=MAXSTEPS) *PRegAngle-=MAXSTEPS;
}
else
{
PinDrvAntiClock=VALID;
*PRegAngle-=step;
if (*PRegAngle<0) *PRegAngle+=MAXSTEPS;
}
while(step)
{
PinDriver=INVALID;
delay(delaycount);
PinDriver=VALID;
delay(delaycount);
--step;
}
PinRotIndicator=FALSE;
return(TRUE);
}
void delay(int i)
{
int j=0;
i=i*DELAY_VALVE;
while (j<i)j++;
}
void XPulse_INT(void) interrupt 2
{
EX0=0;
if(PinXClockWise) XPulseTemp++;
else XPulseTemp--;
EX0=1;
}
void YPulse_INT(void) interrupt 0
{
EX1=0;
if(PinYClockWise) YPulseTemp++;
else YPulseTemp--;
EX1=1;
}
void TIMER(void) interrupt 1
{
TH0=0xB1; //10ms產(chǎn)生中斷 24Mhz
TL0=0xE0;
counter10ms++;
// if(counter10ms==5)
// PinLampBlink=TRUE;
if(counter10ms>=30)
{
counter10ms=0;
if(EvTimer==TRUE){while(1){LampFatalError=TRUE;}}//for debug use
EvTimer=TRUE;
// PinLampBlink=FALSE;
XPulse=XPulseTemp;
YPulse=YPulseTemp;
XPulseTemp=0;
YPulseTemp=0;
}
}
void Rcv_INT(void) interrupt 4
{
LampComm=TRUE;
if(RI)
{
ACC=SBUF;
if(P==RB8)
{
rcvdata=ACC;
EvRcv=TRUE;
}
RI=0;
}
LampComm=FALSE;
}
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